14.26 Command: Force
Limits selection
For all axes a limit can be set, but these have different meaning corresponding to the axes being
compliant or non-compliant.
• Compliant: The limit is the maximum speed the TCP is allowed to attain along/about the
axis. Units are [mm/s] and [deg/s].
• Non-compliant: The limit is the maximum deviation from the program trajectory which is
allowed before the robot protective stops. Units are [mm] and [deg].
Test force settings
The on/off button, labelled Test, toggles the behavior of the Freedrive button on the back of the
Teach Pendant from normal Freedrive mode to testing the force command.
When the Test button is on and the Freedrive button on the back of the Teach Pendant is pressed,
the robot will perform as if the program had reached this force command, and this way the settings
can be verified before actually running the complete program. Especially, this possibility is useful
for verifying that compliant axes and forces have been selected correctly. Simply hold the robot TCP
using one hand and press the Freedrive button with the other, and notice in which directions the
robot arm can/cannot be moved. Upon leaving this screen, the Test button automatically switches
off, which means the Freedrive button on the back of the Teach Pendant is again used for regular
Freedrive mode.
Note: The Freedrive button will only be effectual when a valid feature has been selected for the
Force command.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-107 CB3
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